version: 66.10
glider: 157
mission: 6
dive: 20
start: 10 26 112 11 4 31
data:
$ID,157
$MISSION,6
$DIVE,20
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,180
$D_ABORT,1050
$D_NO_BLEED,40
$D_BOOST,30
$T_BOOST,3
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,75
$T_MISSION,80
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,100
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52741
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4438
$TGT_DEFAULT_LON,-12501
$TGT_AUTO_DEFAULT,0
$SM_CC,230
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,2
$NOCOMM_ACTION,2
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1464128.8
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,148
$PITCH_MAX,3937
$C_PITCH,2512
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.0099999998
$PITCH_GAIN,37
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,231
$ROLL_MAX,3775
$ROLL_DEG,35
$C_ROLL_DIVE,1865
$C_ROLL_CLIMB,1865
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,41
$R_STBD_OVSHOOT,33
$ROLL_AD_RATE,275
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,485
$VBD_MAX,3960
$C_VBD,1430
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00039999999
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-20.531336
$PRESSURE_SLOPE,0.0001140972
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,90
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.30000001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,83
$DEVICE4,119
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042748204
$SEABIRD_T_H,0.00061971153
$SEABIRD_T_I,2.2227921e-05
$SEABIRD_T_J,2.2882891e-06
$SEABIRD_C_G,-10.177173
$SEABIRD_C_H,1.1523328
$SEABIRD_C_I,-0.0019126741
$SEABIRD_C_J,0.00023621984
$GPS1,261012,105531,4742.830,-12225.342,9,1.9,9,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-74.6
$GPS2,261012,110335,4742.862,-12225.357,8,1.6,24,18.2
$SPEED_LIMITS,0.139,0.201
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.201,-0.012
$KALMAN_X,-4288.5,1223.4,333.6,2007.3,-1039.8
$KALMAN_Y,-2361.7,1219.1,-798.1,-88.7,-322.8
$MHEAD_RNG_PITCHd_Wd,75.2,2044,-17.8,-8.000
$D_GRID,180
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-0.52,-97.8,0.0,0.0,0,70,0.00,0.00,-50.75,0.000,6,0.000,0.000,116,1859,1831,0,0,0,0,0,0,28.83,28.83,26.32
$GC,75,-0.52,-97.8,2.8,-6.3,7,91,9.07,1.67,0.00,0.000,4,0.267,0.045,2334,3115,1834,0,0,0,0,0,0,25.75,25.98,28.83
$GC,167,-0.52,-97.8,18.1,-13.8,22,175,0.00,1.62,0.00,0.000,6,0.000,0.037,2336,1862,1836,0,0,0,0,0,0,28.83,26.08,28.83
$GC,247,-0.52,-97.8,29.3,-13.5,35,255,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,1862,1836,0,0,0,0,0,0,28.83,28.83,28.83
$GC,326,-0.52,-97.8,40.3,-14.4,48,334,0.00,2.58,0.00,0.000,4,0.000,0.047,2340,638,1836,0,0,1,0,0,0,28.83,26.15,28.83
$GC,361,-0.52,-97.8,46.1,-16.1,53,368,0.00,2.62,0.00,0.000,6,0.000,0.049,2329,1878,1836,0,0,0,0,0,0,28.83,26.17,28.83
$GC,505,-0.52,-97.8,66.7,-12.3,78,513,0.00,1.60,0.00,0.000,4,0.000,0.054,2321,3102,1836,0,0,0,0,0,0,28.83,26.23,28.83
$GC,588,-0.52,-97.8,78.0,-13.8,92,596,0.00,1.60,0.00,0.000,6,0.000,0.036,2321,1864,1836,0,0,0,0,0,0,28.83,26.30,28.83
$GC,736,-0.52,-97.8,98.0,-14.0,117,743,0.00,2.53,0.00,0.000,4,0.000,0.045,2327,642,1836,0,0,1,0,0,0,28.83,26.31,28.83
$GC,898,-0.52,-97.8,120.4,-14.9,144,906,0.00,2.62,0.00,0.000,6,0.000,0.049,2316,1873,1836,0,0,1,0,0,0,28.83,26.36,28.83
$GC,1049,-0.52,-97.8,141.5,-14.1,169,1055,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,1873,1836,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1197,-0.52,-97.8,161.5,-12.9,194,1204,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,1872,1836,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1332,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1332,begin apogee
$GC,1340,-0.14,0.0,180.7,-13.0,218,1433,0.50,0.00,88.68,0.599,6,0.174,0.000,2468,1872,1428,0,0,0,0,0,0,26.29,28.83,24.94
$STATE,1434,end apogee,CONTROL_FINISHED_OK
$STATE,1434,begin climb
$GC,1437,0.52,97.8,185.4,0.0,232,1538,0.65,2.80,88.32,0.560,4,0.119,0.051,2696,641,1020,0,0,1,0,0,0,25.38,25.01,24.57
$GC,1582,0.52,97.8,173.5,10.8,254,1591,0.00,2.70,0.00,0.000,6,0.000,0.044,2697,1867,1020,0,0,1,0,0,0,28.83,25.38,28.83
$GC,1729,0.52,97.8,156.0,12.5,279,1736,0.00,1.60,0.00,0.000,4,0.000,0.050,2697,3104,1019,0,0,0,0,0,0,28.83,25.76,28.83
$GC,1783,0.52,97.8,148.9,12.7,288,1792,0.00,1.65,0.00,0.000,6,0.000,0.039,2704,1860,1018,0,0,0,0,0,0,28.83,25.86,28.83
$GC,1933,0.52,97.8,130.1,13.1,313,1940,0.00,2.58,0.00,0.000,4,0.000,0.050,2717,628,1018,0,0,1,0,0,0,28.83,25.98,28.83
$GC,1972,0.52,97.8,124.8,12.7,319,1980,0.17,2.62,0.00,0.000,6,0.168,0.044,2669,1873,1018,0,0,0,0,0,0,25.91,26.03,28.83
$GC,2119,0.52,97.8,109.5,9.9,344,2126,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,1872,1017,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2265,0.52,97.8,94.4,10.8,369,2272,0.00,2.62,0.00,0.000,4,0.000,0.051,2681,624,1017,0,0,1,0,0,0,28.83,26.18,28.83
$GC,2315,0.52,97.8,89.3,9.5,377,2322,0.00,2.60,0.00,0.000,6,0.000,0.044,2680,1868,1017,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2459,0.52,97.8,71.8,12.6,402,2466,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,1867,1017,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2605,0.52,97.8,56.1,9.7,427,2611,0.00,1.55,0.00,0.000,4,0.000,0.051,2680,3104,1017,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2711,0.52,97.8,44.8,9.5,445,2717,0.00,1.58,0.00,0.000,6,0.000,0.039,2688,1854,1016,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2856,0.52,97.8,31.2,9.4,470,2864,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,1854,1016,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2935,0.52,97.8,23.5,10.3,483,2943,0.00,2.55,0.00,0.000,4,0.000,0.051,2700,644,1016,0,0,1,0,0,0,28.83,26.37,28.83
$GC,2960,0.52,97.8,21.1,9.7,486,2968,0.00,2.58,0.00,0.000,6,0.000,0.044,2700,1862,1016,0,0,1,0,0,0,28.83,26.39,28.83
$GC,3040,0.52,97.8,12.7,11.1,499,3048,0.00,1.60,0.00,0.000,4,0.000,0.052,2700,3105,1016,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3076,0.52,97.8,8.2,12.4,504,3085,0.00,1.62,0.00,0.000,6,0.000,0.041,2708,1859,1016,0,0,0,0,0,0,28.83,26.42,28.83
$STATE,3113,end climb,SURFACE_DEPTH_REACHED
$STATE,3113,begin surface coast
$FINISH,0.2,1.022760
$STATE,3137,end surface coast,CONTROL_FINISHED_OK
$STATE,3137,begin surface
$SM_CCo,3156,67.45,0.061,0,0,491,230.09
$SM_GC,1.17,6.55,0.00,67.45,0.040,0.000,0.061,121,1859,491,-7.37,-0.17,230.09,0,0,0,0,0,0,26.45,28.83,26.32
$IRIDIUM_FIX,4726.11,-12218.96,261012,090954
$TT8_MAMPS,0.023968,0.023968
$HUMID,39.95
$INTERNAL_PRESSURE,9.148
$TCM_TEMP,16.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,150.2,50.8
$24V_AH,24.6,1.247
$10V_AH,10.5,1.346
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,16.950,47.500,177.000,67.450,0.000,29.463,30.021,270.974,2.000,0.000,26.831,1166.496,329.249,323.663,1648.986,245.736,33.205,833.493,0.000,1336.794,0.000,14.884,0.000
$DEVICE_MAMPS,266.985,54.315,598.995,61.200,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,368.368,236.701,971.519,183.644,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323244
$DATA_FILE_SIZE,30332,514
$CAP_FILE_SIZE,61805,0
$CFSIZE,260165632,257306624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,0,0,0
$GPS,261012,115913,4742.829,-12224.893,12,1.8,12,18.2